GPC scheme for the Internet-based teleoperation

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	GPC scheme for the Internet-based teleoperation
	Chen D(陈丹); Wang YC(王越超); Li HY(李洪谊); Tang XS(唐旭晟)
	2008
会议日期	June 1-8, 2008
会议地点	Hong Kong, China
页码	1985-1990
英文摘要	The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously, even make the system unstable. To overcome the trouble, an idea that using CARIMA model of the linearized slave robot to design a controller based on the Generalized Predictive Control (GPC) method is proposed in this paper. We place the GPC controller at the remote site. First of all, The CARIMA model of the linearized slave robot is derived. Secondly, a GPC controller is designed at slave site to generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet to the system. Moreover, in order to solve the problem caused by the variable time delay, the reference information signed with time stamp is used and fedback to the operator, so the operator can predict the next round trip time delay(RTT) according to the preceding RTT we got. Finally, stability condition is achieved. Simulation results show that these strategies can dynamically compensate for the variable time delay and reduce the performance degradation induced by packet loss.
源文献作者	IEEE
产权排序	1
会议录	2008 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-8
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISSN号	1098-7576
ISBN号	978-1-4244-1820-6
WOS记录号	WOS:000263827201066
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8725]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.College of Electrical Engineering and Automation, Fuzhou University, Fuzhou,350002, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China 3.Graduate University, Chinese Academy of Sciences, Beijing, China 4.Department of Electrical Engineering, Michigan State University, East Lansing, MI 48824-1226, United States 5.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式 GB/T 7714	Chen D,Wang YC,Li HY,et al. GPC scheme for the Internet-based teleoperation[C]. 见:. Hong Kong, China. June 1-8, 2008.